\section{Conclusions}
\label{sec:conclusions}
It appears from the state of art that the magnetic field constraint on a robot
has not been investigated until recently. Moreover, this constraint has not
yet been combined to other constraints such as temperature, radiation and
vacuum. They were not to be highly dexterous robots either, which implies that most of the
technologies used for MRI compatible robots will be inoperative in our case. The
constraint of a highly dexterous robot going through a tight opening has been
solved before with innovative mechanical design to reduce the size and weight of
the actuators in particular.

The temperature, vacuum and radiation effect on robots have actually been
addressed in different robot designs before, although they were never faced
by the same design. The techniques for each of those constraints have been
summarized in this paper. It appears from hardening studies that their
combined effects, as difficult as they may be to handle, can be dealt by
choosing components wisely.
As for now, actuation is the major obstacle for hardening a remote handling
device to a high magnetic field: common motors do not work in this environment,
and using hydraulics would require a lot of improvement against temperature in
particular.
Against such high magnetic field two kinds of design principles may be applied.
The magnetic field may be completely ignored, applying a design strategy that
consists of using materials that cannot be harmed by any effect of the magnetic
field or are strong enough to face it. The second option is to take the magnetic
field as an advantage. However such device cannot operate without the magnetic
field. It may be used to provide force, however studies should be carried on to
develop efficient and practical actuators.
